Lots written about this 'need' on new cars (not just HR-V or Hondas). ESPECIALLY since the pandemic began. 
The dealer is correct (to a point) about the need to drive at least 30 minutes (IMO once a week is enough). This assures that the battery is fully charged during the car's inactivity.
Another thing that helps charge the battery (fully) is to drive with your lights on (or the interior fan on HIGH), especially if you do shorter trips. The car senses this and will provide full current to the battery. (Normally, the electronics saves gas, by 'running off the battery' on and off.)
It doesn't help that many cars are fitted with the smallest size of battery these days, to save weight and increase MPG.
1. If your car is stored inside, you could attach a Battery Maintainer that will keep the battery fully charged without overcharging it. CTEK 5.0 is one trusted brand/model, but Harbor Freight sells workable units for a lot less.
2. If you leave your car at an area that is not as secure (IE, airport parking lot) you could keep a little lithium-ion battery jumper in your HR-V. NOCO brand is well known, but again there are others.
Once your battery is fully charged, check its state of health either with a meter or at an autoparts store (they usually do that for free). If it is found to be weak, you should be able to get a new battery under warranty for a year,from Honda.
The dealer is correct (to a point) about the need to drive at least 30 minutes (IMO once a week is enough). This assures that the battery is fully charged during the car's inactivity.
Another thing that helps charge the battery (fully) is to drive with your lights on (or the interior fan on HIGH), especially if you do shorter trips. The car senses this and will provide full current to the battery. (Normally, the electronics saves gas, by 'running off the battery' on and off.)
It doesn't help that many cars are fitted with the smallest size of battery these days, to save weight and increase MPG.
Aside from the above tips, you can do a couple things to assure that you are not stuck:
1. If your car is stored inside, you could attach a Battery Maintainer that will keep the battery fully charged without overcharging it. CTEK 5.0 is one trusted brand/model, but Harbor Freight sells workable units for a lot less.
2. If you leave your car at an area that is not as secure (IE, airport parking lot) you could keep a little lithium-ion battery jumper in your HR-V. NOCO brand is well known, but again there are others.
Once your battery is fully charged, check its state of health either with a meter or at an autoparts store (they usually do that for free). If it is found to be weak, you should be able to get a new battery under warranty for a year,from Honda.